Hammer AI v1.0

//HAMMER AI V1.0
//By KupaTec

//AI script useful for limited rotation motor weapons such as hammers or flippers
//To use set up your motor as a DOUBLE THROW MOMENTARY SWITCH using button2 as + and button3 as -

//Update log
//-V1 Released!
//--Easier to read and tune
//--No more constantly spinning motors!
//--Refined srimech detection

//TODO
//-Rewrite srimech and immobile handling
//-Potentially add in ability to define which buttons to use

//====================================TUNE THE AI HERE====================================
	//Distance from enemy to arm weapon in meters(?)
	weaponRange = 2
	//Deviation from center to fire weapon once in range
	//Min = 0, Max = 1
	weaponFOV = .1
	//"Recharge" time for weapon in seconds
	//For Hammers this should be set to how long it takes to fully extend or retract
	//For Flippers this should be set to the minimum time between attempting to flip
	weaponRecharge = .75
//=======================================END TUNING=======================================

//// USER-CREATED FUNCTIONS

// getDistance is a function that computes the distance betwen two points in meters.
getDistance = function(v1,v2); return sqrt((v2.x-v1.x)*(v2.x-v1.x) + (v2.y-v1.y)*(v2.y-v1.y) + (v2.z-v1.z)*(v2.z-v1.z)); end function

// getMyRobot is a function that returns a map of our robot.  Sometimes our robot is not robots[0].
getMyRobot = function(); for robot in robots; if robot.tag == myTag then; return robot; end if; end for; end function

// getNearestEnemy is a function that returns a map of the closest robot to us that is not us.
getNearestEnemy = function(); pos = getMyRobot().position;nearestEnemyDistance = 1000000;nearestEnemy = {};for robot in robots;if robot.tag != myTag then;testDistance = getDistance(pos,robot.position);if testDistance < nearestEnemyDistance then;nearestEnemyDistance = testDistance;nearestEnemy = robot;end if;end if;end for;return nearestEnemy;end function

// Normalize
// Normalizes a number to always produce a positive integer
// for example normalize(-0.2) should output 0.02
normalize = function(n); if n < 0 then nn = n*-1 else nn = n; return nn; end if; end function

//// MAIN EVENT LOOP

while 1

	// Get a reference to self and nearest enemy as well as distance between.
	e = getNearestEnemy()
	me = getMyRobot()
	distance = getDistance(me.position,e.position)

	// Drive towards opponent
	drive = driveToward(e.position)
	// Turn towards opponent
	turn = turnToward(e.position)

	if(distance < weaponRange) then
			if(normalize(turn) <= weaponFOV) then
			button2 = true
			button3 = false
			aistate = "weapon fire"
			wait(weaponRecharge)
			button2 = false
			button3 = true
			aistate = "weapon reset"
			wait(weaponRecharge)
			else
			button2 = false
			button3 = false
			aistate = "in range"
		end if
	else
		button2 = false
		button3 = false
		aistate = "out of range"
	end if

	// If inverted, try to self-right.
	if(me.upValue < -0.5) then
		button2 = true
		button3 = false
		aistate = "srimech fire"
		wait(weaponRecharge)
		button2 = false
		button3 = true
		aistate = "srimech reset"
		wait(weaponRecharge)
	end if

	// If immobile, try to get unstuck.
	// Do this by driving forward, then backward, toggling button1 on and off
	// every 2 seconds.
	if me.isImmobile() then
		if floor(me.immobileTimerRemaining)%4 < 2 then
			drive = -1
		else
			drive = 1
		end if
		aistate = "Wiggling"
	end if

	yield
end while